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Plane: added airspeed simulation in HIL

This commit is contained in:
Andrew Tridgell 2014-08-10 18:17:12 +10:00
parent a4cd9c4bd7
commit 817164914e
1 changed files with 3 additions and 1 deletions
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4
ArduPlane/GCS_Mavlink.pde
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@ -1399,6 +1399,9 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
Vector3f vel(packet.vx, packet.vy, packet.vz);
vel *= 0.01f;
// setup airspeed pressure based on 3D speed, no wind
airspeed.setHIL(sq(vel.length()) / 2.0f + 2013);
gps.setHIL(0, AP_GPS::GPS_OK_FIX_3D,
packet.time_usec/1000,
loc, vel, 10, 0, true);
@ -1420,7 +1423,6 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
barometer.setHIL(packet.alt*0.001f);
compass.setHIL(packet.roll, packet.pitch, packet.yaw);
airspeed.disable();
// cope with DCM getting badly off due to HIL lag
if (g.hil_err_limit > 0 &&